@article{choset2000coverage,
  title={Coverage of known spaces: The boustrophedon cellular decomposition},
  author={Choset, Howie},
  journal={Autonomous Robots},
  volume={9},
  number={3},
  pages={247--253},
  year={2000},
  publisher={Springer},
  doi={10.1023/A:1008958800904},
  note={\url{https://doi.org/10.1023/A:1008958800904}}
}

@incollection{latombe1991exact,
  title={Exact cell decomposition},
  author={Latombe, Jean-Claude},
  booktitle={Robot Motion Planning},
  pages={200--247},
  year={1991},
  publisher={Springer}
  doi={10.1007/978-1-4615-4022-9_5},
  note={\url{https://doi.org/10.1007/978-1-4615-4022-9_5}}
}



